Sökning: onr:"swepub:oai:DiVA.org:kth-224667" >
Learning of Behavio...
Learning of Behavior Trees for Autonomous Agents
-
- Colledancise, Michele (författare)
- Istituto Italiano di Tecnologia, Genova, Liguria, IT
-
- Parasuraman, Ramviyas Nattanmai (författare)
- Purdue University System, West Lafayette, IN, US
-
- Petter, Ögren, 1974- (författare)
- KTH,Robotik, perception och lärande, RPL
-
(creator_code:org_t)
- IEEE Press, 2018
- 2018
- Engelska.
-
Ingår i: IEEE Transactions on Games. - : IEEE Press. - 2475-1502.
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- In this paper, we study the problem of automatically synthesizing a successful Behavior Tree (BT) in an a-priori unknown dynamic environment. Starting with a given set of behaviors, a reward function, and sensing in terms of a set of binary conditions, the proposed algorithm incrementally learns a switching structure in terms of a BT, that is able to handle the situations encountered. Exploiting the fact that BTs generalize And-Or-Trees and also provide very natural chromosome mappings for genetic pro- gramming, we combine the long term performance of Genetic Programming with a greedy element and use the And-Or analogy to limit the size of the resulting structure. Finally, earlier results on BTs enable us to provide certain safety guarantees for the resulting system. Using the testing environment Mario AI we compare our approach to alternative methods for learning BTs and Finite State Machines. The evaluation shows that the proposed approach generated solutions with better performance, and often fewer nodes than the other two methods.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Electrical Engineering
- Elektro- och systemteknik
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
Hitta via bibliotek
Till lärosätets databas